JPH11341863A - Dc motor driver - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable stable control for a motor which has a small inertia moment or when sampling interval of rotating speed cannot be reduced without the reduction in a starting torque, by controlling torque ripples with a more simplified circuit and for number of external parts. SOLUTION: A control input voltage Vc to be impressed to a control input terminal 711 is inputted to non-inverted input terminals of preamplifiers 710, 720 connecting the reference voltages Vt1, Vt2 which are generated by dividing a circuit power supply voltage Vcc with resistors 23, 35, 24. Respective output currents I2, I3 are inputted to a resistor 22, and it is then compared with a voltage generated in a resistor 21 by a motor current Im of a DC motor 40 with an error amplifier 800. An output current of the error amplifier 800 is inputted to the base of the transistor 30 for controlling the motor current Im of the DC motor 40 connected to the collector of transistor 30 by means of a control input voltage Vc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device for a DC motor.

[0002]

2. Description of the Related Art In recent years, DC motors used in VTRs and tape recorders and the like, particularly DC brushless motors, have a gentle current gradient for phase switching to obtain quiet and smooth rotation, and electrically correct torque ripple. In many cases, a drive device having a function of performing the above operation is used. For example, JP-A-61-
No. 142986 (hereinafter abbreviated as Document 1) discloses that the sum of the output in the inflow direction and the sum of the output in the outflow direction of the preamplifier are compared, and the difference is fed back to the offset adjustment terminal of the preamplifier. A method for removing the influence of the offset and the third harmonic of the Hall element, and comparing the sum of the output of the power amplifier and the output control signal, or the sum of the output control signal and the output of the preamplifier in the inflow direction, and using the difference, A method of suppressing the effect of sensitivity variation of the Hall element by controlling the amplification degree of the preamplifier or the supply voltage of the Hall element, and adding the output of the comparator of the offset adjustment loop of the Hall element to the output control signal. A method for reducing torque ripple is shown.

In order to control the output torque of the motor, a transistor and a resistor are connected in series with the motor, the current flowing through the motor is detected by the voltage across the resistor, and the control input voltage and the voltage across the resistor are detected. Compare the voltage with a differential amplifier,
It is common practice to control the motor current by controlling the base current of a transistor connected in series to the motor based on the output, and to control the output torque of the motor.

At this time, instead of directly comparing the control input voltage with the voltage across the resistor, the control input voltage Vc is once compared with the reference voltage Vt, and the level is shifted. It is common to make a comparison.

FIG. 10 is a block diagram showing a circuit configuration of such a DC motor driving device, and FIG. 11 shows an example of each characteristic.

In FIG. 10, the control input voltage Vc applied to the control input terminal 701 is the circuit power supply voltage Vcc
The reference voltage Vt obtained by dividing the voltage at 3, 24 is connected to the non-inverting input terminal of the preamplifier 700 (differential amplifier) connected to the inverting input terminal. Is done. The control amplifier 800 compares the voltage with the voltage generated in the resistor 21 by the motor current Im of the motor 40.

The output current circuit of the control amplifier 800 is connected to the base of the transistor 30 and constitutes a motor current control loop for controlling the motor current Im of the motor 40 connected to the collector of the transistor 30 with the control input voltage Vc. doing.

FIG. 11A shows the control input voltage (Vc) versus the motor current.
FIG. 11B shows the characteristics of (Im) and the characteristics of motor current / rotational speed (N) versus output torque (T).

[0009]

However, in the method disclosed in the above document 1, a comparator and an amplifier must be provided in the loop to form a feedback loop, and the circuit portion is formed into a one-chip integrated circuit (IC). In addition to this, there is a first problem that not only a larger chip area is required, but also the operation of the feedback loop is stabilized and many external components for phase compensation are required outside the IC.

In order to control a motor having a small moment of inertia or a motor whose rotation speed sampling interval cannot be made sufficiently small, the slope of the transfer characteristic shown in FIG. Is desirable.

However, if the transfer characteristic is set as shown in characteristic 2, even if the maximum value Vc max of the control input voltage Vc is applied, the starting torque of the motor decreases as shown by characteristic 2 in FIG. There was a second problem of getting lost.

The present invention solves the above-mentioned second problem, suppresses torque ripple with a simpler circuit and fewer external parts as compared with the prior art, and provides a motor with a small moment of inertia and a sufficient sampling interval of rotation speed. An object of the present invention is to provide a DC motor drive device capable of performing stable control without reducing the starting torque even in a motor that cannot be reduced in size.

[0013]

In order to solve the above-mentioned second problem, the present invention provides a transistor and a resistor connected in series to a DC motor, and has a different reference voltage and a control input voltage and the reference voltage. A plurality of preamplifiers, and an error amplifying means for amplifying a difference between a signal obtained by combining outputs of the plurality of preamplifiers and a voltage across the resistor,
The base current of the transistor is controlled by the output of the error amplifier.

According to the above configuration, stable control can be performed without reducing the starting torque even in a motor having a small moment of inertia or a motor in which the sampling interval of the rotational speed cannot be made sufficiently small.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a circuit configuration of a DC motor driving device according to a reference example for describing an embodiment of the present invention.

In FIG. 1, the Hall elements 1, 2, 3 are arranged on a stator (not shown) at an interval of 120 electrical degrees from each other, and the outputs of the Hall elements 1, 2, 3 are current output. Type Hall signal amplifiers 100, 200, 300 are connected to the input terminals, respectively. Outputs of the Hall signal amplifiers 100, 200, and 300 are input to input terminals 401, 402, and 403 of a logarithmic compression circuit 400, respectively, and logarithmically compressed output voltages are respectively supplied to a first distribution circuit (1) 500 and a second Is connected to the distribution circuit (2) 900. The first distribution circuit (1) 500 converts the current input to the output current command terminal 501 into an input terminal of the logarithmic compression circuit 400.
The output terminals 505-507 and 508-510 are distributed to the input terminals 601-603 and 604-606 of the power amplifier 600 in proportion to the voltages of 401-403.

FIG. 2 is a circuit diagram showing an example of the logarithmic compression circuit 400 and the first distribution circuit (1) 500 in FIG. 1. This circuit has a basic analog multiplication circuit having a three-differential configuration.
Further, it corresponds to signals in both positive and negative directions. Due to the nature of the three-phase sine wave, one of the three diodes and one of the transistors is always reverse-biased and is in an off state.
The current of the output current command terminal 501 is distributed in proportion to the ratio of the voltages of 1 to 403 and output to the output terminals 505 to 507 and 508 to 510.

Next, the power amplifier 600 shown in FIG. 1 has a current discharge terminal 60 for discharging a current equal to the output current in the suction direction.
7, the current discharge terminal 607 is connected to one end of the resistor 21 and generates a voltage in the resistor 21 that is proportional to the motor current. The output of the power amplifier 600 is connected to the stator windings 4, 5, and 6, and supplies a current to the stator windings corresponding to the position of the rotor magnet to generate a rotating torque for the motor.

The voltage applied to the control input terminal 701 is level-shifted and current-converted by the preamplifier 700 and input to the resistor 22, and compared with a voltage proportional to the motor current generated in the resistor 21 by the control amplifier 800. The output signal proportional to the error is output to the output current command terminal of the first distribution circuit (1) 500.
An output current control loop is formed by being applied to 501.

The current detection circuit 1100, together with the resistor 21, generates a current proportional to the motor current, and the output current command terminal 901 of the second distribution circuit (2) 900 and the waveform synthesis circuit 100
The current is supplied to the 0 output current command terminal 1001.
The output of the second distribution circuit (2) 900 is connected to the waveform synthesizing circuit 1000 to generate a torque ripple correction signal, and the torque ripple correction signal is guided to the resistor 22 and after being added to the output of the preamplifier 700. It becomes an input of the control amplifier 800 and forms a torque ripple correction loop.

The operation of the DC motor driving device configured as described above will be described with reference to FIG. 1, FIG. 3, FIG. 4, and FIG.

First, FIG. 3 shows the second distribution circuit (2) 900 of FIG.
3A and 3B are operation waveform diagrams illustrating operations when there is no feedback by the waveform synthesizing circuit 1000. The output voltages of the Hall elements 1 to 3 are converted into currents by the Hall signal amplifiers 100 to 300, and FIG. Are input to the input terminals 401 to 403 of the logarithmic compression circuit 400 in FIG. FIG. 3B shows the voltages at the output terminals 404 to 406 of the logarithmic compression circuit 400. As described above, the first distribution circuit (1) 500 distributes the current of the output current command terminal 501 in proportion to the voltage of the input terminals 401 to 403 of the logarithmic compression circuit 400. 3 (c),
The current of FIG. 3D is output from the output terminals 505 to 507. Therefore, the output terminals 608 to 610 of the power amplifier 600 are connected as shown in FIG.
Is obtained. FIG. 3 (f) shows the output torque, which is about 14
Contains 100% torque ripple.

FIG. 4 is an operation waveform diagram of each part in FIG. 1 when feedback is applied by the second distribution circuit (2) 900 and the waveform synthesis circuit 1000, and FIGS. 4 (a) and (b) are FIG. They are the same as (a) and (b). FIG. 4C shows the output terminal 1 of the waveform synthesis circuit 1000 shown in FIG.
002 is a voltage waveform. Therefore, the current of FIG. 4D is obtained at the output terminals 608 to 610 of the power amplifier 600, and the ripple of the output torque shown in FIG. 4E becomes about 2% or less.

FIG. 5 shows the second distribution circuit (2) 900 in FIG.
FIG. 6 is a circuit diagram showing an example of a waveform synthesizing circuit 1000, and FIG. 6 is an operation waveform diagram of each part in FIG.

FIG. 6A shows a power amplifier 60 when there is no feedback by the waveform synthesizing circuit 1000 corresponding to the electrical angle shown in the upper part.
0, and (b) shows currents I21-I23 and I34-I flowing through transistors T21-T23 and T34-T36 to be described later.
36, (c) shows the transistors T25 to T27 and T31 to
The currents I25-I27 and I31-I33 flowing through T33, (d) are the currents I43-I45 flowing through the transistors T43-T45, (e)
Are the currents I46-I flowing through the transistors T46-T48.
48, (f) shows the current I4 flowing through the transistors T41 and T52.
1 and I52, (g) are output currents of the power amplifier 600 when the feedback by the waveform synthesizing circuit 1000 is applied.

Now, referring to FIG.
11, T12, T13, T21, T22, T23, T25, T26, T27
Has twice the emitter area of the other transistors, and the transistors T14 and T15 have three times the emitter area of the other transistors.
The current flowing through each transistor, I14 and I15 are 1.11 of I11.
Five times, I24 and I28 become 0.5 times the current of I11. I34 obtained by distributing I15 by transistors T34, T35 and T36,
I35, I36 and I21, I22, I23 are subtracted to obtain I43, I44,
I45 is obtained in the same manner as I46, I47 and I48. Further, by subtracting I43, I44 and I45 from I24, I41 becomes I28
I52 is obtained by subtracting I46, I47 and I48 from. I41
And I52 are added and output to the output terminal 1002 to become a torque ripple correction signal. This torque ripple correction signal is added to the output signal of the preamplifier 700 of FIG. 1 to generate the voltage shown in FIG. 4C at the resistor 22 of FIG. A ripple suppressing effect can be obtained.

The reference example of the above configuration shows the case of using the Hall elements 1 to 3 for detecting the position of the rotor magnet, and supposes the magneto-electric conversion element. However, if the current waveform of FIG. No magneto-electric conversion element is required. For example,
If a trapezoidal wave having a flat portion having an electrical angle of 60 ° corresponding to the position of the rotor magnet can be generated by the method disclosed in Japanese Patent Application Laid-Open No. 3-89890, the torque shown in FIGS. Since a ripple correction signal can be obtained, a torque ripple suppression effect similar to that shown in FIG.

FIG. 7 is a block diagram showing a circuit configuration of a motor driving device according to an embodiment of the present invention. This shows a means for performing stable control without reducing the starting torque even in a motor having a small moment of inertia or a motor whose rotation speed sampling interval cannot be made sufficiently small.

In FIG. 7, the control input voltage Vc applied to the control input terminal 711 is obtained by changing the circuit power supply voltage Vcc to the resistors 23, 3
The reference voltages Vt1 and Vt2 produced by dividing the voltages by 5, 24 are connected to the non-inverting input terminals of preamplifiers (current output differential amplifiers) 710 and 720 connected to the inverting input terminals, respectively. I2 and I3 are input to resistor 22;
The control amplifier 800 (error amplifier, differential amplifier) compares the voltage generated in the resistor 21 by the motor current Im of the motor 40. The output current of control amplifier 800 is transistor 30
And a motor current control loop for controlling the motor current Im of the motor 40 connected to the collector of the transistor 30 with the control input voltage Vc.

FIG. 8 is a characteristic diagram of the motor current (Im) and the output currents I2 and I3 of the preamplifier in FIG. 7, (a) is a characteristic diagram of the control input voltage (Vc) versus the motor current (Im), (b) is a characteristic diagram of the control input voltage (Vc) versus the output currents I2 and I3 of the preamplifier.

Since this control loop in the circuit diagram of the present embodiment shown in FIG. 7 operates with a current obtained by adding I2 and I3, the control input voltage Vc and the motor current Im have the characteristic 2 shown in FIG. The relationship is as shown.

Comparing the characteristic 2 with the characteristic of the conventional control circuit represented by the characteristic 1, since the inclination is smaller than the characteristic 1 near the normal operating point Iop, the sampling interval of the motor or the rotational speed with a small moment of inertia is small. Is not sufficiently reduced, the characteristic is suitable for motor speed control in which the ripple of the control input voltage cannot be completely removed. If the inflection point It of the characteristic is set higher than the maximum operating point, the control input voltage V
For the maximum value Vcmax of c, a motor current Imax equal to or more than the characteristic 1 can be obtained, and a good control characteristic can be obtained without a decrease in the starting torque.

The same effect can be obtained even if the characteristic of the preamplifier 720 is changed to the characteristic indicated by I3 in FIG.

Although one transistor has been described in the description, it is needless to say that the present invention can be applied to an apparatus for driving a motor using a plurality of transistors in a power amplifier as shown in FIG.

[0036]

As described above, the DC motor driving apparatus according to the present invention has a transistor and a resistor connected in series to the DC motor, has different reference voltages, and compares a control input voltage with the reference voltage. A plurality of preamplifiers;
Error amplification means for amplifying a difference between a signal obtained by combining the outputs of the plurality of preamplifiers and a voltage between both ends of the resistor, and controlling a base current of the transistor by an output of the error amplification means, thereby providing a moment of inertia. It is possible to perform stable control without reducing the starting torque even in a motor having a small motor speed or a motor whose rotation speed sampling interval cannot be sufficiently reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a circuit configuration of a motor drive device according to a reference example for describing an embodiment of the present invention.

FIG. 2 is a circuit diagram showing an example of a logarithmic compression circuit and a first distribution circuit (1) in FIG.

FIG. 3 is an operation waveform diagram of each unit for explaining an operation when there is no feedback by a second distribution circuit (2) and a waveform synthesis circuit in FIG. 1;

FIG. 4 is an operation waveform diagram of each section for explaining an operation when feedback is applied by a second distribution circuit (2) and a waveform synthesis circuit in FIG. 1;

5 is a circuit diagram showing an example of a second distribution circuit (2) and a waveform synthesis circuit in FIG.

FIG. 6 is an operation waveform diagram of each section for explaining the operation of the second waveform synthesis circuit (2) and the waveform synthesis circuit in FIG.

FIG. 7 is a block diagram showing a circuit configuration of a motor drive device according to an embodiment of the present invention.

FIG. 8 is a graph showing a relationship between a control input voltage and a motor current in FIG. 7;
(a) and control input voltage vs. output current characteristics of the preamplifier
(b)

9 is a diagram showing another control input voltage versus motor current characteristic in FIG. 7 (a) and a diagram showing the control input voltage versus output current characteristic of the preamplifier (b).

FIG. 10 is a block diagram showing a circuit configuration of a conventional motor drive device.

11 (a) and FIG. 11 (b) are plots of control input voltage versus motor current and plots of output torque versus motor current and rotation speed for the motor drive device of FIG.

[Description of Signs] 21, 22, 23, 24, 35 Resistor 30 Transistor 40 DC Motor 710, 720 Preamplifier 711 Control Input Terminal 800 Error Amplifier (Control Amplifier)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Yasunori Terai 2-5-5 Keihanhondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd.

Claims (1)

[Claims] A plurality of preamplifiers having different reference voltages for comparing a control input voltage with the reference voltage, and an output of the plurality of preamplifiers. A DC amplifier comprising: an amplifier configured to amplify a difference between a signal obtained by combining the above and a voltage between both ends of the resistor, wherein a base current of the transistor is controlled by an output of the amplifier. apparatus.